{
 "cells": [
  {
   "cell_type": "markdown",
   "id": "1ede788b",
   "metadata": {},
   "source": [
    "1.导入rclpy和Node"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 1,
   "id": "2b0240ea",
   "metadata": {
    "scrolled": true
   },
   "outputs": [],
   "source": [
    "import rclpy\n",
    "from rclpy.node import Node"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "de0410de",
   "metadata": {},
   "source": [
    "2.从tf2_ros包中导入坐标变换监听器"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "id": "b3e88382",
   "metadata": {},
   "outputs": [],
   "source": [
    "from tf2_ros import TransformException\n",
    "from tf2_ros.buffer import Buffer\n",
    "from tf2_ros.transform_listener import TransformListener"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "ef531f41",
   "metadata": {},
   "source": [
    "3.初始化节点"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "id": "2cc2586b",
   "metadata": {},
   "outputs": [],
   "source": [
    "rclpy.init()\n",
    "node = Node(\"transform_node3\")"
   ]
  },
  {
   "cell_type": "markdown",
   "id": "39f67547",
   "metadata": {},
   "source": [
    "4.初始化节点"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "id": "d5fdb4ff",
   "metadata": {},
   "outputs": [],
   "source": [
    "tf_buffer = Buffer()\n",
    "tf_listener = TransformListener(tf_buffer,node)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 5,
   "id": "2037020a",
   "metadata": {},
   "outputs": [],
   "source": [
    "def transform_callback():    \n",
    "    try:\n",
    "        now = rclpy.time.Time()\n",
    "        trans = tf_buffer.lookup_transform('B','P',now)\n",
    "        print(\"trans\",trans)\n",
    "    except TransformException as ex:\n",
    "        print(f'Could not transform B to P: {ex}')"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "728edb88",
   "metadata": {
    "scrolled": true
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "Could not transform B to P: \"B\" passed to lookupTransform argument target_frame does not exist. \n",
      "Could not transform B to P: \"B\" passed to lookupTransform argument target_frame does not exist. \n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497306, nanosec=381159299), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497307, nanosec=381037198), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497308, nanosec=381039805), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497309, nanosec=381050863), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497310, nanosec=380977791), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497311, nanosec=381070340), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497312, nanosec=380999581), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497313, nanosec=381078435), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497314, nanosec=381123059), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497315, nanosec=381106185), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497316, nanosec=381308192), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497317, nanosec=381782442), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497318, nanosec=381447924), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497319, nanosec=381004720), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497320, nanosec=381068834), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497321, nanosec=381030392), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497322, nanosec=381042648), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497323, nanosec=381050044), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497324, nanosec=281066915), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497325, nanosec=380963306), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497326, nanosec=381267681), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497327, nanosec=381549195), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497328, nanosec=381046783), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497329, nanosec=380988562), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497330, nanosec=381105824), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497331, nanosec=381147304), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497332, nanosec=381264218), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497333, nanosec=381548664), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497334, nanosec=381086691), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497335, nanosec=381259840), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497336, nanosec=381132296), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497337, nanosec=381118427), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497338, nanosec=381490616), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497339, nanosec=381246910), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497340, nanosec=380734741), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497341, nanosec=381083998), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497342, nanosec=381084419), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497343, nanosec=381048281), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497344, nanosec=381252603), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497345, nanosec=381434338), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497346, nanosec=381231347), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497347, nanosec=380977407), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497348, nanosec=381078518), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497349, nanosec=381238390), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497350, nanosec=381150478), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497351, nanosec=381072220), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497352, nanosec=381097205), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497353, nanosec=381114165), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497354, nanosec=380953012), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497355, nanosec=380993795), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497356, nanosec=381126709), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497357, nanosec=381101739), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497358, nanosec=380932099), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497359, nanosec=380972731), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497360, nanosec=380951012), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497361, nanosec=381217040), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497362, nanosec=381392850), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497363, nanosec=381452840), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497364, nanosec=381424460), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497365, nanosec=381598486), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497366, nanosec=381392082), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497367, nanosec=381494792), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497368, nanosec=381416395), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497369, nanosec=381100086), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497370, nanosec=381356857), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497371, nanosec=381289430), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497372, nanosec=381103267), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497373, nanosec=381398486), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497374, nanosec=380929493), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497375, nanosec=281404304), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497376, nanosec=381422322), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497377, nanosec=380987259), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497378, nanosec=381438108), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497379, nanosec=381474391), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497380, nanosec=381843892), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497381, nanosec=381571129), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497382, nanosec=381354069), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497383, nanosec=380900460), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497384, nanosec=381578028), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497385, nanosec=381444884), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497386, nanosec=381131984), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497387, nanosec=381414810), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497388, nanosec=381485471), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497389, nanosec=380890135), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497390, nanosec=381293917), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497391, nanosec=381287198), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497392, nanosec=381441939), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497393, nanosec=381513378), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497394, nanosec=381585199), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497395, nanosec=381527670), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497396, nanosec=380799814), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497397, nanosec=380755584), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497398, nanosec=381136688), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497399, nanosec=381497405), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497400, nanosec=381441270), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497401, nanosec=381066775), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497402, nanosec=381381960), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497403, nanosec=381145598), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497404, nanosec=381358360), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497405, nanosec=380781613), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497406, nanosec=381127061), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497407, nanosec=381374927), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497408, nanosec=381153310), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497409, nanosec=381330865), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497410, nanosec=380915531), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497411, nanosec=381476155), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497412, nanosec=381309870), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497413, nanosec=381597236), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497414, nanosec=281040031), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497415, nanosec=381392115), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497416, nanosec=380690703), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497417, nanosec=381341134), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497418, nanosec=381238757), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497419, nanosec=380990321), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497420, nanosec=381145390), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497421, nanosec=381035897), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497422, nanosec=281003779), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497423, nanosec=281147967), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497424, nanosec=381346430), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497425, nanosec=381748386), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497426, nanosec=381223909), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497427, nanosec=381248983), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497428, nanosec=381533496), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497429, nanosec=381103843), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497430, nanosec=381240702), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497431, nanosec=381597176), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497432, nanosec=381482631), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497433, nanosec=380898390), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497434, nanosec=380836360), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497435, nanosec=381068401), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497436, nanosec=380940203), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497437, nanosec=381347858), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497438, nanosec=380974602), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497439, nanosec=381337295), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497440, nanosec=381233650), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497441, nanosec=381437707), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497442, nanosec=381503424), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497443, nanosec=380906015), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497444, nanosec=381445948), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497445, nanosec=381484632), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497446, nanosec=381362372), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497447, nanosec=380929662), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497448, nanosec=381080158), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497449, nanosec=381111377), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497450, nanosec=380722580), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497451, nanosec=381237291), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497452, nanosec=381521607), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497453, nanosec=381505181), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497454, nanosec=380991240), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497455, nanosec=380965106), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497456, nanosec=381235469), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497457, nanosec=381319090), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497458, nanosec=381149440), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497459, nanosec=381373779), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497460, nanosec=381266832), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497461, nanosec=381503658), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497462, nanosec=381526645), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497463, nanosec=381434548), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497464, nanosec=381293133), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497465, nanosec=381519880), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497466, nanosec=381413154), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497467, nanosec=381457561), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497468, nanosec=381116847), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497469, nanosec=381455313), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497470, nanosec=381072383), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497471, nanosec=381332088), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497472, nanosec=381348158), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497473, nanosec=381399030), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497474, nanosec=381028821), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497475, nanosec=381391303), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497476, nanosec=381395315), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497477, nanosec=381020914), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497478, nanosec=381438431), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497479, nanosec=381441388), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497480, nanosec=381151503), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497481, nanosec=381092174), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497482, nanosec=381093843), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497483, nanosec=381391446), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497484, nanosec=381405004), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497485, nanosec=381432919), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497486, nanosec=381433221), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497487, nanosec=381371996), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497488, nanosec=381549151), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497489, nanosec=381445994), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497490, nanosec=380992891), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497491, nanosec=381332678), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497492, nanosec=381077627), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497493, nanosec=381240686), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497494, nanosec=381113524), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497495, nanosec=381256655), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497496, nanosec=381284647), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497497, nanosec=381118612), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497498, nanosec=381098570), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497499, nanosec=380719586), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497500, nanosec=381269382), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497501, nanosec=381683288), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497502, nanosec=381548713), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497503, nanosec=381499372), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497504, nanosec=381405917), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497505, nanosec=380760839), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497506, nanosec=380896329), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497507, nanosec=380686151), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497508, nanosec=381152446), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497509, nanosec=381163468), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497510, nanosec=381133638), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497511, nanosec=380734134), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497512, nanosec=380813511), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497513, nanosec=380903807), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497514, nanosec=381094377), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497515, nanosec=380915651), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497516, nanosec=381137761), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497517, nanosec=381561699), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497518, nanosec=381124460), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497519, nanosec=381003864), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497520, nanosec=380989878), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497521, nanosec=381533226), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497522, nanosec=381031956), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497523, nanosec=381339222), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497524, nanosec=381385590), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497525, nanosec=381237822), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497526, nanosec=381264025), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497527, nanosec=381019505), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497528, nanosec=381447602), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497529, nanosec=381152360), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497530, nanosec=381352960), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497531, nanosec=381532954), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497532, nanosec=381587961), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497533, nanosec=381325288), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497534, nanosec=381453401), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497535, nanosec=381084388), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497536, nanosec=381127272), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497537, nanosec=381326097), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497538, nanosec=381104774), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497539, nanosec=381388917), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497540, nanosec=381138771), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497541, nanosec=381676227), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497542, nanosec=381437930), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497543, nanosec=381494337), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497544, nanosec=381132857), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497545, nanosec=380950587), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497546, nanosec=381308833), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497547, nanosec=381368505), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497548, nanosec=380957294), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497549, nanosec=381220380), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497550, nanosec=380808002), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497551, nanosec=380998907), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497552, nanosec=380906098), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497553, nanosec=380991182), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497554, nanosec=381161377), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497555, nanosec=381091766), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497556, nanosec=381033088), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497557, nanosec=380868332), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497558, nanosec=381247643), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497559, nanosec=381413255), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497560, nanosec=380920979), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497561, nanosec=381235296), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497562, nanosec=381135542), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497563, nanosec=381547519), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497564, nanosec=380982230), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497565, nanosec=381492352), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497566, nanosec=381303849), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497567, nanosec=381098068), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497568, nanosec=381387391), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497569, nanosec=381420663), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497570, nanosec=381320375), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497571, nanosec=381090123), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497572, nanosec=381140448), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497573, nanosec=381448077), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497574, nanosec=381414216), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497575, nanosec=381018294), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497576, nanosec=381285250), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497577, nanosec=381168133), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497578, nanosec=381145462), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497579, nanosec=381132278), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497580, nanosec=381289207), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497581, nanosec=380836204), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497582, nanosec=380847559), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497583, nanosec=381152004), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497584, nanosec=381350863), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497585, nanosec=381042515), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497586, nanosec=381606661), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497587, nanosec=381059316), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497588, nanosec=381098350), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497589, nanosec=381303808), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497590, nanosec=381723975), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497591, nanosec=381246641), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497592, nanosec=381444927), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497593, nanosec=381010823), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497594, nanosec=381358343), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497595, nanosec=381428540), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497596, nanosec=381113736), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497597, nanosec=381432736), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497598, nanosec=381339895), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497599, nanosec=380892315), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497600, nanosec=381289575), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497601, nanosec=381441783), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497602, nanosec=381313381), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497603, nanosec=381158326), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497604, nanosec=381531177), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497605, nanosec=381483304), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497606, nanosec=381086556), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497607, nanosec=381051591), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497608, nanosec=380828191), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497609, nanosec=381567509), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497610, nanosec=380770965), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497611, nanosec=380949535), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497612, nanosec=381502041), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497613, nanosec=380989440), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497614, nanosec=381516213), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497615, nanosec=380892643), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497616, nanosec=381142384), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497617, nanosec=381316029), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497618, nanosec=381224498), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497619, nanosec=381286599), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497620, nanosec=381061610), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497621, nanosec=381525515), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497622, nanosec=381506030), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497623, nanosec=381432318), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497624, nanosec=381056751), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497625, nanosec=381482012), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497626, nanosec=381366687), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497627, nanosec=381346543), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497628, nanosec=381156049), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497629, nanosec=380961810), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497630, nanosec=381272564), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497631, nanosec=381079608), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497632, nanosec=381232637), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497633, nanosec=381524538), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497634, nanosec=381150694), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497635, nanosec=381021894), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497636, nanosec=380683179), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497637, nanosec=381386585), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497638, nanosec=380804010), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497639, nanosec=381488036), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497640, nanosec=381091225), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497641, nanosec=381317287), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497642, nanosec=381524067), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497643, nanosec=381498438), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497644, nanosec=381131428), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497645, nanosec=382179572), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497646, nanosec=381393480), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497647, nanosec=381078492), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497648, nanosec=381505376), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497649, nanosec=381293875), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497650, nanosec=381374971), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497651, nanosec=381254065), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497652, nanosec=381161396), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497653, nanosec=381153488), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497654, nanosec=381504279), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497655, nanosec=381583679), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497656, nanosec=381389386), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497657, nanosec=381507673), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497658, nanosec=381382547), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497659, nanosec=381100857), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497660, nanosec=380997469), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497661, nanosec=381147753), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497662, nanosec=380921381), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497663, nanosec=381002504), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497664, nanosec=381241651), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497665, nanosec=380970698), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497666, nanosec=381273072), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497667, nanosec=381131621), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497668, nanosec=381031026), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497669, nanosec=381043819), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497670, nanosec=381028274), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497671, nanosec=381062330), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497672, nanosec=381075188), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497673, nanosec=381135484), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497674, nanosec=381024008), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497675, nanosec=381149243), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497676, nanosec=381169936), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497677, nanosec=381165662), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497678, nanosec=381146975), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497679, nanosec=381432681), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497680, nanosec=381103521), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497681, nanosec=381421940), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497682, nanosec=381453853), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497683, nanosec=381415159), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497684, nanosec=381104940), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497685, nanosec=381388247), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497686, nanosec=381042774), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497687, nanosec=380963687), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497688, nanosec=381054926), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497689, nanosec=381476773), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497690, nanosec=380733356), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497691, nanosec=381484595), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497692, nanosec=381089225), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497693, nanosec=381404878), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497694, nanosec=381417377), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497695, nanosec=381474531), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497696, nanosec=381124516), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497697, nanosec=381509886), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497698, nanosec=381161750), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497699, nanosec=380733209), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497700, nanosec=381053257), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497701, nanosec=380759170), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497702, nanosec=380916635), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497703, nanosec=380831190), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497704, nanosec=381349998), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497705, nanosec=381252926), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497706, nanosec=280853307), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497707, nanosec=381681417), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497708, nanosec=381472843), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497709, nanosec=381555263), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497710, nanosec=381400771), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497711, nanosec=381478970), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497712, nanosec=381523319), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497713, nanosec=381287634), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497714, nanosec=381423271), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497715, nanosec=381224171), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497716, nanosec=381082729), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497717, nanosec=381103492), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497718, nanosec=381326645), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497719, nanosec=381497302), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497720, nanosec=380766362), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497721, nanosec=381120019), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497722, nanosec=381272863), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497723, nanosec=381625238), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497724, nanosec=381616076), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497725, nanosec=381145157), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497726, nanosec=381087336), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497727, nanosec=380924875), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497728, nanosec=381113895), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497729, nanosec=381066511), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497730, nanosec=381015015), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497731, nanosec=380668468), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497732, nanosec=381384139), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497733, nanosec=381049791), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497734, nanosec=381338490), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497735, nanosec=381005737), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497736, nanosec=381110700), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497737, nanosec=380881247), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497738, nanosec=381387151), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497739, nanosec=380765479), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497740, nanosec=380745452), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497741, nanosec=381487456), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497742, nanosec=381272727), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497743, nanosec=381548354), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497744, nanosec=381165447), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497745, nanosec=381404198), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497746, nanosec=381774995), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497747, nanosec=381429233), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497748, nanosec=381326256), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497749, nanosec=381226831), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497750, nanosec=381326776), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497751, nanosec=381326377), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497752, nanosec=381228080), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497753, nanosec=381310868), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497754, nanosec=381456556), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497755, nanosec=381034425), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497756, nanosec=380853536), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497757, nanosec=381017310), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497758, nanosec=381574461), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497759, nanosec=381313539), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497760, nanosec=381514721), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497761, nanosec=381371712), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497762, nanosec=381554012), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497763, nanosec=381311565), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497764, nanosec=381420013), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497765, nanosec=381436460), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497766, nanosec=381251263), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497767, nanosec=381228078), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497768, nanosec=381404157), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497769, nanosec=380768737), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497770, nanosec=381381804), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497771, nanosec=381521890), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497772, nanosec=380906635), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497773, nanosec=381265192), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497774, nanosec=381593960), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497775, nanosec=380760934), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497776, nanosec=381156816), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497777, nanosec=381474572), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497778, nanosec=380745466), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497779, nanosec=381236916), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497780, nanosec=380928475), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497781, nanosec=381069940), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497782, nanosec=380712744), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497783, nanosec=380767589), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497784, nanosec=381312896), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497785, nanosec=380744364), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497786, nanosec=381472708), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497787, nanosec=381426893), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497788, nanosec=381455097), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497789, nanosec=381653962), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497790, nanosec=381363955), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497791, nanosec=380870427), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497792, nanosec=380855547), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497793, nanosec=381472742), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497794, nanosec=381596191), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497795, nanosec=381040304), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497796, nanosec=381059335), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497797, nanosec=380704192), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497798, nanosec=381511371), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497799, nanosec=381361137), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497800, nanosec=380945013), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497801, nanosec=381161648), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497802, nanosec=381563636), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497803, nanosec=381398174), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497804, nanosec=381223562), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n"
     ]
    },
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497805, nanosec=381112775), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497806, nanosec=381144589), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497807, nanosec=381143359), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497808, nanosec=380992351), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497809, nanosec=381136031), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497810, nanosec=381309529), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497811, nanosec=381459041), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497812, nanosec=381357848), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497813, nanosec=380700598), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497814, nanosec=380852868), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497815, nanosec=380875433), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497816, nanosec=381500952), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497817, nanosec=381079858), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497818, nanosec=381378035), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n",
      "trans geometry_msgs.msg.TransformStamped(header=std_msgs.msg.Header(stamp=builtin_interfaces.msg.Time(sec=1637497819, nanosec=381407331), frame_id='B'), child_frame_id='P', transform=geometry_msgs.msg.Transform(translation=geometry_msgs.msg.Vector3(x=2.0, y=3.0, z=2.0), rotation=geometry_msgs.msg.Quaternion(x=1.0, y=0.0, z=0.0, w=0.0)))\n"
     ]
    }
   ],
   "source": [
    "node.create_timer(1,transform_callback)\n",
    "rclpy.spin(node)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "cbe134d6",
   "metadata": {},
   "outputs": [],
   "source": []
  }
 ],
 "metadata": {
  "celltoolbar": "原始单元格格式",
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   "language": "python",
   "name": "python3"
  },
  "language_info": {
   "codemirror_mode": {
    "name": "ipython",
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   "file_extension": ".py",
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   "name": "python",
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   "pygments_lexer": "ipython3",
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